Pith Number

pith:CDAPHLF6

pith:2019:CDAPHLF6GDVWXB5AF3YMUF2HTQ

not attested not anchored not stored refs pending

Learning Decentralized Controllers for Robot Swarms with Graph Neural Networks

Alejandro Ribeiro, Ekaterina Tolstaya, Fernando Gama, George Pappas, James Paulos, Vijay Kumar

arxiv:1903.10527 v4 · 2019-03-25 · cs.RO

Open paper page JSON Open Graph Bundle Merged state Verified badge What is a Pith Number?

Add to your LaTeX paper

\usepackage{pith}
\pithnumber{CDAPHLF6GDVWXB5AF3YMUF2HTQ}

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Record completeness

1 Bitcoin timestamp

2 Internet Archive

3 Author claim open · sign in to claim

4 Citations open

5 Replications open

✓ Portable graph bundle live · download bundle · merged state

The bundle contains the canonical record plus signed events. A mirror can host it anywhere and recompute the same current state with the deterministic merge algorithm.

Cited by

1 paper in Pith

RSC: Decentralized Rigid Formation Flocking for Large-Scale Swarms via Hybrid Predictive Control and Online Reconfiguration

Receipt and verification

First computed	2026-07-05T02:26:38.667716Z
Builder	pith-number-builder-2026-05-17-v1
Signature	Pith Ed25519 (`pith-v1-2026-05`) · public key
Schema	pith-number/v1.0

Canonical hash

10c0f3acbe30eb6b87a02ef0ca17479c1b09f7f295085bb85d7f570f4d185444

Aliases

arxiv: 1903.10527 · arxiv_version: 1903.10527v4 · doi: 10.48550/arxiv.1903.10527 · pith_short_12: CDAPHLF6GDVW · pith_short_16: CDAPHLF6GDVWXB5A · pith_short_8: CDAPHLF6

Agent API

Resolver JSON Graph JSON Events JSON Schema Signing key

Verify this Pith Number yourself

curl -sH 'Accept: application/ld+json' https://pith.science/pith/CDAPHLF6GDVWXB5AF3YMUF2HTQ \
  | jq -c '.canonical_record' \
  | python3 -c "import sys,json,hashlib; b=json.dumps(json.loads(sys.stdin.read()), sort_keys=True, separators=(',',':'), ensure_ascii=False).encode(); print(hashlib.sha256(b).hexdigest())"
# expect: 10c0f3acbe30eb6b87a02ef0ca17479c1b09f7f295085bb85d7f570f4d185444

Canonical record JSON

{
  "metadata": {
    "abstract_canon_sha256": "1933cca252cf7bf44ee55bff8e88ff8c1f8c64b75f4934e5377f84b51cce5c69",
    "cross_cats_sorted": [],
    "license": "http://arxiv.org/licenses/nonexclusive-distrib/1.0/",
    "primary_cat": "cs.RO",
    "submitted_at": "2019-03-25T18:00:27Z",
    "title_canon_sha256": "b10c505f65796b2e341f1dd349aca303fb219498c3168cfb75295d178820b2a2"
  },
  "schema_version": "1.0",
  "source": {
    "id": "1903.10527",
    "kind": "arxiv",
    "version": 4
  }
}